#ifndef __mine_fly_control_h__
#define __mine_fly_control_h__

#include "stm32f4xx.h"
#include "FreeRTOS.h"
#include "task.h"
#include "stdlib.h"
#include "stdio.h"
#include "mine_motor1.h"
#include "motors.h"
#include "nvic.h"
#include "delay.h"
#include "mine_motors_pwm.h"
#include "FreeRTOS.h" // FreeRTOS核心头文件
#include "task.h"     // FreeRTOS任务管理代码头文件
#include "event_groups.h"

extern TaskHandle_t mine_fly_control_task_handler;
void mine_fly_control_init(void);
void mine_fly_control_task(void *pvParameters);

void mine_fly_control_set_fly_state(uint8_t fly_state);

uint8_t mine_fly_control_get_fly_state(void);

void mine_fly_control_flight(void);
void mine_fly_control_land(void);
void mine_fly_control_speed_down(void);
void mine_fly_control_speed_up(void);

void mine_fly_control_pwm_set(float duty);

#endif
